We create a virtual 2D tactile array for soft pneumatic actuators using embedded audio components. We detect contact-specific changes in sound modulation to infer tactile information. We evaluate different sound representations and learning methods to detect even small contact variations. We demonstrate the acoustic tactile sensor array by the example of a PneuFlex actuator and use a Braille display to individually control the contact of 29x4 pins with the actuator's 90x10 mm palmar surface. Evaluating the spatial resolution, the acoustic sensor localizes edges in x- and y-direction with a root-mean-square regression error of 1.67 mm and 0.0 mm, respectively. Even light contacts of a single Braille pin with a lifting force of 0.17 N are measured with high accuracy. Finally, we demonstrate the sensor's sensitivity to complex contact shapes by successfully reading the 26 letters of the Braille alphabet from a single display cell with a classification rate of 88%.

We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it travels through the structure. Using simple machine learning, we create a computational sensor that infers the corresponding state from sound recordings. We demonstrate the acoustic sensor on a soft pneumatic continuum actuator and use it to measure contact locations, contact forces, object materials, actuator inflation, and actuator temperature. We show that the sensor is reliable (average classification rate for six contact locations of 93%), precise (mean spatial accuracy of 3.7 mm), and robust against common disturbances like background noise. Finally, we compare different sounds and learning methods and achieve best results with 20 ms of white noise and a support vector classifier as the sensor model.

Event-triggered model predictive control (eMPC) is a popular optimal control method with an aim to alleviate the computation and/or communication burden of MPC. However, it generally requires priori knowledge of the closed-loop system behavior along with the communication characteristics for designing the event-trigger policy. This paper attempts to solve this challenge by proposing an efficient eMPC framework and demonstrate successful implementation of this framework on the autonomous vehicle path following. First of all, a model-free reinforcement learning (RL) agent is used to learn the optimal event-trigger policy without the need for a complete dynamical system and communication knowledge in this framework. Furthermore, techniques including prioritized experience replay (PER) buffer and long-short term memory (LSTM) are employed to foster exploration and improve training efficiency. In this paper, we use the proposed framework with three deep RL algorithms, i.e., Double Q-learning (DDQN), Proximal Policy Optimization (PPO), and Soft Actor-Critic (SAC), to solve this problem. Experimental results show that all three deep RL-based eMPC (deep-RL-eMPC) can achieve better evaluation performance than the conventional threshold-based and previous linear Q-based approach in the autonomous path following. In particular, PPO-eMPC with LSTM and DDQN-eMPC with PER and LSTM obtains a superior balance between the closed-loop control performance and event-trigger frequency. The associated code is open-sourced and available at: https://github.com/DangFengying/RL-based-event-triggered-MPC.

The maximum error in scour trough and filling peak forecasts are provided in Table 3 and graphically shown in Figure 22. The maximum error based on the mean of predictions varies between 0.5m to 0.7m for scour troughs and 0.4m to 1.7m for filling peaks. The lower bound (LB) and upper bound (UB) errors show a reasonable degree of variability in the LSTM predictions, varying between 0.2m to 0.9m for scour, and 0m to 1.4m for filling. Impact of Flow Velocity (Discharge) In order to explore whether velocity is a critical feature in presence of stage timeseries, we incorporated the discharge measurements (discharge), obtained from the USGS website, into the LSTM models for bridge 742 as an input feature and compared the performance among three different feature combinations: ssd:[sonar, stage, discharge], sd:[sonar, discharge], and ss:[sonar, stage]. Discharge is computed based on gage-height records (flow velocity) multiplied the river cross-section area. Gage-height records are obtained by systematic observation of a non-recording gage, or with automatic water level sensors relayed by remote gagging stations (Sauer and Turnipseed 2010). Figure 23 provides histograms of the discharge time-series for bridge 742 and its cross-correlation with sonar and stage. Stage and discharge show a large positive correlation as observed both in Figure 23 and Figure 24.

Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage the capstan effect and create exponentially-amplified holding forces. Experiments show that an idealized capstan model explains force amplification experienced on common irregular outdoor objects - trees, rocks, posts. Robust to variable environmental conditions, this exponential amplification method can harness single or multiple capstan objects, either in series or in parallel with a team of robots. This adaptability allows for a range of potential configurations especially useful for when objects cannot be fully encircled or gripped. These principles are demonstrated with mobile platforms to (1) control the lowering and arrest of a payload, (2) to achieve planar control of a payload, and (3) to act as an anchor point for a more massive platform to winch towards. We show the simple addition of a tether, wrapped around shallow stones in sand, amplifies holding force of a low-traction platform by up to 774x.

The designs of many large-scale systems today, from traffic routing environments to smart grids, rely on game-theoretic equilibrium concepts. However, as the size of an $N$-player game typically grows exponentially with $N$, standard game theoretic analysis becomes effectively infeasible beyond a low number of players. Recent approaches have gone around this limitation by instead considering Mean-Field games, an approximation of anonymous $N$-player games, where the number of players is infinite and the population's state distribution, instead of every individual player's state, is the object of interest. The practical computability of Mean-Field Nash equilibria, the most studied Mean-Field equilibrium to date, however, typically depends on beneficial non-generic structural properties such as monotonicity or contraction properties, which are required for known algorithms to converge. In this work, we provide an alternative route for studying Mean-Field games, by developing the concepts of Mean-Field correlated and coarse-correlated equilibria. We show that they can be efficiently learnt in \emph{all games}, without requiring any additional assumption on the structure of the game, using three classical algorithms. Furthermore, we establish correspondences between our notions and those already present in the literature, derive optimality bounds for the Mean-Field - $N$-player transition, and empirically demonstrate the convergence of these algorithms on simple games.

Residential buildings with the ability to monitor and control their net-load (sum of load and generation) can provide valuable flexibility to power grid operators. We present a novel multiclass nonintrusive load monitoring (NILM) approach that enables effective net-load monitoring capabilities at high-frequency with minimal additional equipment and cost. The proposed machine learning based solution provides accurate multiclass state predictions while operating at a faster timescale (able to provide a prediction for each 60-Hz ac cycle used in US power grid) without relying on event-detection techniques. We also introduce an innovative hybrid classification-regression method that allows for the prediction of not only load on/off states via classification but also individual load operating power levels via regression. A test bed with eight residential appliances is used for validating the NILM approach. Results show that the overall method has high accuracy and, good scaling and generalization properties. Furthermore, the method is shown to have sufficient response time (within 160ms, corresponding to 10 ac cycles) to support building grid-interactive control at fast timescales relevant to the provision of grid frequency support services.

This paper addresses the task of explaining anomalous predictions of a black-box regression model. When using a black-box model, such as one to predict building energy consumption from many sensor measurements, we often have a situation where some observed samples may significantly deviate from their prediction. It may be due to a sub-optimal black-box model, or simply because those samples are outliers. In either case, one would ideally want to compute a ``responsibility score'' indicative of the extent to which an input variable is responsible for the anomalous output. In this work, we formalize this task as a statistical inverse problem: Given model deviation from the expected value, infer the responsibility score of each of the input variables. We propose a new method called likelihood compensation (LC), which is founded on the likelihood principle and computes a correction to each input variable. To the best of our knowledge, this is the first principled framework that computes a responsibility score for real valued anomalous model deviations. We apply our approach to a real-world building energy prediction task and confirm its utility based on expert feedback.

We investigate the graph-based convolutional neural network approach for predicting and ranking gas adsorption properties of crystalline Metal-Organic Framework (MOF) adsorbents for application in post-combustion capture of $\textrm{CO}_2$. Our model is based solely on standard structural input files containing atomistic descriptions of the adsorbent material candidates. We construct novel methodological extensions to match the prediction accuracy of classical machine learning models that were built with hundreds of features at much higher computational cost. Our approach can be more broadly applied to optimize gas capture processes at industrial scale.

In most existing studies on large-scale multi-agent coordination, the control methods aim to learn discrete policies for agents with finite choices. They rarely consider selecting actions directly from continuous action spaces to provide more accurate control, which makes them unsuitable for more complex tasks. To solve the control issue due to large-scale multi-agent systems with continuous action spaces, we propose a novel MARL coordination control method that derives stable continuous policies. By optimizing policies with maximum entropy learning, agents improve their exploration in execution and acquire an excellent performance after training. We also employ hierarchical graph attention networks (HGAT) and gated recurrent units (GRU) to improve the scalability and transferability of our method. The experiments show that our method consistently outperforms all baselines in large-scale multi-agent cooperative reconnaissance tasks.